CN114485968A - Vision laser calibration platform system - Google Patents
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Abstract
The invention provides a visual laser calibration platform system, which comprises: the laser signal acquisition module: the device is used for acquiring laser signals and analyzing the laser signals to acquire direction and angle information of laser beams; an error acquisition module: the device is used for comparing the direction and angle information of the laser beam with preset standard direction and angle information to obtain error data information; a calibration module: and the laser beam calibration module is used for constructing an error calibration model according to the error data information, automatically calibrating the laser beam and determining a calibration result. The invention can improve the efficiency and the reliability of laser calibration.
Description
Technical Field
The invention relates to the technical field of optical measurement, in particular to a visual laser calibration platform system.
Background
At present, the conventional laser calibration method has limited calibration precision and insufficient calibration accuracy, and data delay caused by time delay exists in the calibration process, which finally causes deviation between a calibration track and a displacement measurement value at the same moment when laser calibration is performed, and in addition, the process still needs to be considered to be supervised in the laser calibration process, so that the calibration efficiency is reduced, for example, in patent document CN201611260402, a path time-based laser angle calibration device and calibration method, when the angle of laser is calibrated, the laser beam is calibrated by measuring the deflection angle of the laser beam, in the method, calibration is performed only by using the deflection angle, the calibration object is single, the adjusted parameters have no accuracy, and calibration errors are easily caused; in the paper Zhang C, Zhang g, study on the Test Method of Calibration Device of Laser Calibration Device [ J ]. hean Science and Technology,2019, full automatic Laser Calibration can be realized, without manual participation, and the accuracy of Calibration is improved by studying the indication error in the Laser Calibration process.
Disclosure of Invention
The invention provides a visual laser calibration platform system, which is used for solving the problems that the calibration precision is insufficient, the accuracy is low, and the calibration cannot be carried out aiming at various errors.
A visual laser calibration platform system, comprising:
the laser signal acquisition module: the device is used for acquiring laser signals and analyzing the laser signals to acquire direction and angle information of laser beams;
an error acquisition module: the device is used for comparing the direction and angle information of the laser beam with preset standard direction and angle information to obtain error data information;
a calibration module: and the laser beam calibration module is used for constructing an error calibration model according to the error data information, automatically calibrating the laser beam and determining a calibration result.
As an embodiment of the present invention: the laser signal acquisition module includes:
a video frame acquisition unit: the system comprises a video frame acquisition module, a video frame acquisition module and a video frame acquisition module, wherein the video frame acquisition module is used for acquiring video frame information of laser beams in an environment by adopting an industrial camera;
video frame cutting unit: the video frame information of the laser beams is divided to obtain image information of a plurality of frames of laser beams;
an image coordinate acquisition unit: the coordinate value of the laser beam point under an image coordinate system is acquired according to the image information of the laser beam; wherein the laser beam spot comprises a laser emitting point and a laser receiving point;
a coordinate system conversion unit: the coordinate system conversion module is used for converting a coordinate value corresponding to a laser beam point in an image coordinate system to obtain a coordinate value of the laser beam point in a three-dimensional space coordinate system;
an angle value calculation unit: the system comprises a three-dimensional space coordinate system, a laser beam spot and a laser processing device, wherein the three-dimensional space coordinate system is used for carrying out angle conversion according to the coordinate of the laser beam spot in the three-dimensional space coordinate system to acquire the angle value information of laser emission; wherein the angle value information includes: a pitch angle value, an elevation angle value, a yaw angle value.
As an embodiment of the present invention: the error acquisition module includes:
a wavelength calculation unit: the laser wavelength acquisition module is used for acquiring the laser wavelength corresponding to the laser beam according to the direction and angle information of the laser beam;
a displacement measuring unit: the Doppler frequency shift calculation is carried out according to the laser wavelength corresponding to the light beam, and a measurement displacement value of the laser light beam is obtained;
a displacement value conversion unit: the displacement value is used for converting the measurement displacement value to obtain a phase displacement value of the laser beam;
air refractive index calculation unit: the real-time air refractive index calculation module is used for calculating the air refractive index of the environment in real time, and calculating the real-time-frequency difference value of the laser beam by combining the phase displacement value of the laser beam according to the real-time air refractive index;
lightwave signal amplification unit: the AC amplifier is used for amplifying the light wave signal according to the real-time frequency difference value of the laser beam to obtain an amplified light wave signal value;
an information comparison unit: and the device is used for acquiring a standard lightwave signal value, comparing the standard lightwave signal value with the amplified lightwave signal value and acquiring error data information.
As an embodiment of the present invention: the air refractive index calculation unit includes:
an air pressure obtaining subunit: the system comprises an air pressure sensor, a data processing module and a data processing module, wherein the air pressure sensor is used for acquiring real-time air pressure data of an environment and outputting the real-time air pressure data;
temperature acquisition subunit: the system comprises a temperature sensor, a data processing module and a data processing module, wherein the temperature sensor is used for acquiring real-time temperature data of an environment and outputting the real-time temperature data;
humidity acquisition subunit: the humidity sensor is used for acquiring real-time humidity data of the environment and outputting the real-time humidity data;
gas concentration measurement subunit: the carbon dioxide concentration meter is used for acquiring the concentration value of real-time carbon dioxide in the air and outputting the real-time carbon dioxide concentration value;
refractive index obtaining subunit: the device is used for calculating the real-time air refractive index based on the air pressure data, the temperature data, the humidity data and the carbon dioxide concentration value in the air of the environment and outputting the calculation result.
As an embodiment of the present invention: the calibration module includes:
equipment self-checking unit: the device self-checking module is used for starting a device self-checking mode, acquiring a device self-checking result, outputting a primary feedback signal when the device self-checking result shows a normal working state, and outputting a secondary feedback signal when the device self-checking result shows an abnormal working state; wherein the self-checking content of the device comprises: detecting the connectivity of equipment lines, detecting the availability of a laser transmitter and detecting the parallelism;
an error classification unit: the device is used for receiving the primary feedback signal, classifying the error data information according to a preset error type and outputting an error classification result; wherein the error categories include: wavelength error, quantization error, nonlinear error, wavelength compensation error, temperature compensation error and cosine error;
an error positioning unit: the error classification module is used for positioning a target position corresponding to the error data information according to the error classification result to obtain a target position positioning result;
a positioning verification unit: the system is used for verifying the accuracy of the positioning result according to the target position positioning result to obtain an accuracy verification result; wherein the accuracy verification result comprises: matching positioning verification and mismatching positioning verification;
a model construction unit: when the accuracy verification result shows that the positioning verification is matched, acquiring a target position calibration weight according to the target position positioning result, and constructing an error calibration model according to the weight;
a primary calibration unit: and the calibration module is used for acquiring calibration parameters according to the error calibration model and executing automatic calibration according to the calibration parameters.
As an embodiment of the present invention: the laser signal acquisition module further comprises:
laser quality detection unit: the quality detection module is used for performing quality detection on the acquired laser signals, outputting quality detection results and dividing the quality grade of the laser beams according to the quality detection results; wherein the quality grade of the laser beam comprises: a first level light beam level, a second level light beam level, and a third level light beam level;
a laser filtering unit: the laser processing device is used for performing corresponding laser filtering according to the quality grade of the laser beam to obtain filtered laser, and analyzing the filtered laser to obtain an analysis result;
laser filters the detecting element: the laser filtering device is used for detecting the edge scattering degree of the filtered laser according to the laser filtering result and outputting a detection result; wherein the detection result comprises: usable laser beams, unusable laser beams;
a result processing unit: and the laser module is used for transmitting a stop calibration instruction when the edge scattering degree detection result shows that the laser beam is unavailable.
As an embodiment of the present invention: the laser filtering unit: the laser filtering device is used for performing corresponding laser filtering according to the quality grade of the laser beam, obtaining filtered laser and outputting a laser filtering result, and the specific executed content comprises the following steps:
when the quality grade of the laser beam is a first-grade beam grade, analyzing the laser beam, acquiring the direction and angle information of the laser beam and outputting an analysis result;
when the quality grade of the laser beam is a secondary beam grade, performing scattering filtering on the laser beam to obtain primary filtered laser, analyzing the primary filtered laser to obtain direction and angle information corresponding to the beam of the primary filtered laser, and outputting an analysis result;
and when the quality grade of the laser beam is a third-level beam grade, performing edge filtering on the laser beam to obtain an edge filtering result, performing scattering filtering according to the edge filtering result to obtain a second-level filtering laser, analyzing the second-level filtering laser, obtaining direction and angle information corresponding to the beam of the second-level filtering laser, and outputting an analysis result.
As an embodiment of the present invention: the error acquisition module further comprises:
a normalization processing unit: the device is used for carrying out normalization processing on the direction and angle information of the laser beam to generate the motion information of the laser beam;
a signal conversion unit: the laser processing device is used for converting the motion information of the laser beam into a frequency modulation signal and acquiring the vibration characteristic of the laser beam;
a laser simulation unit: the laser processing device is used for acquiring an interference interval of simulated laser according to the vibration characteristic of the laser beam and acquiring the carrier frequency of the simulated laser according to the interference interval;
an offset frequency acquisition unit: the frequency deviation control device is used for comparing the carrier frequency of the simulated laser with the carrier frequency of the standard laser to obtain the deviation frequency;
a digital demodulation unit: for digitally demodulating the offset frequency and outputting a demodulated signal.
As an embodiment of the present invention: the calibration module further comprises:
a calibration prediction unit: the device is used for acquiring historical error data information and historical calibration data information, respectively taking the historical error data information and the historical calibration data information as an input item and an output item of a training set, constructing a calibration prediction model according to the input item and the output item of the training set, taking the error data information of the current laser beam as an input item of the calibration prediction model, acquiring a corresponding output result, and graphically displaying according to the output result to acquire a predicted calibration track.
A track recording unit: the system is used for dynamically recording the actual calibration path to generate an actual calibration track;
a trajectory comparison unit: the coincidence degree analysis module is used for analyzing the coincidence degree of the predicted calibration track and the actual calibration track and outputting a coincidence degree analysis result;
a model updating unit: and the device is used for updating the calibration prediction model according to the coincidence degree analysis result and outputting the updated calibration prediction model.
As an embodiment of the present invention: the calibration module further comprises:
an information storage unit: the system comprises a content database, a calibration content acquisition module and a calibration content acquisition module, wherein the content database is used for storing calibration content information; the calibration content information comprises the direction and angle information of the laser beam, error data information and calibration result information;
an information monitoring unit: the system comprises a content database, a data acquisition module, a data processing module and a data processing module, wherein the content database is used for storing data, the data acquisition module is used for acquiring data in the content database, and the data acquisition module is used for acquiring data in the content database;
an abnormal information alarm unit: and when the comparison result shows that the data in the content database is not in the corresponding threshold range, judging the data to be abnormal data and transmitting an alarm signal.
The beneficial effects of the invention are as follows: the invention calibrates by obtaining the three-dimensional space coordinate values of the laser emitting point and the laser receiving point and the depression angle, the elevation angle and the yaw angle of the corresponding emitted laser, increases the diversity of a calibration object, can realize calibration by a plurality of factors, and improves the efficiency and the reliability of laser calibration; secondly, by classifying the acquired error data information, wherein the classified content includes: the laser calibration method comprises the steps of carrying out accurate error classification on error data of the laser beams according to wavelength errors, quantization errors, nonlinear errors, wavelength compensation errors, temperature compensation errors and cosine errors, carrying out corresponding calibration mode switching according to specific error classification results, and improving calibration accuracy and laser calibration adaptability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a vision laser calibration platform system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser signal acquisition module in a vision laser calibration platform system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an error acquisition module in a vision laser calibration platform system according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a calibration module in a vision laser calibration platform system according to an embodiment of the present invention;
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Aiming at the problems that a calibration object is single, adjustment parameters are not accurate and calibration errors are easily caused in the laser calibration process, the calibration is carried out by obtaining three-dimensional space coordinate values of a laser emitting point and a laser receiving point and depression angles, elevation angles and yaw angles of corresponding emitted lasers, the diversity of the calibration object is increased, calibration can be carried out through multiple factors, the reference object and the reliability of laser calibration are improved, the calibration process still needs to be manually supervised in the calibration process, laser calibration failure caused by manual negligence is easily caused, automatic verification testing is carried out on the laser calibration result, the record and the result of the verification testing are sent to a management system, an automatic program is adopted in the whole calibration testing process, manual participation is not needed, and therefore the calibration efficiency is improved; secondly, aiming at the problem of low adaptability of errors, the invention classifies the acquired error data information, wherein the classified content comprises the following steps: the laser calibration method comprises the steps of carrying out accurate error classification on error data of the laser beams according to wavelength errors, quantization errors, nonlinear errors, wavelength compensation errors, temperature compensation errors and cosine errors, and carrying out corresponding calibration mode switching according to specific error classification results, so that the calibration accuracy and the laser calibration adaptability are improved.
Example 1:
the embodiment of the invention provides a visual laser calibration platform system, which comprises:
the laser signal acquisition module: the device is used for acquiring laser signals and analyzing the laser signals to acquire direction and angle information of laser beams;
an error acquisition module: the direction and angle information of the laser beam is compared with preset standard direction and angle information to obtain error data information;
a calibration module: the laser beam calibration system is used for constructing an error calibration model according to the error data information, automatically calibrating the laser beam and determining a calibration result;
the working principle of the technical scheme is as follows: in the prior art, a lifting device is arranged to collect a laser beam path, and position compensation parameters are determined only by the position information of an actual mark point and the position information of a preset standard mark point for correction, so that the method only aims at the target position coordinate information of a laser beam and does not aim at the coordinate position of a laser emission point, the lack of reliability in the laser calibration process is easily caused, and the accuracy of laser calibration is reduced; according to the invention, the collected laser signals are analyzed to obtain the beam direction information and the angle information of the laser transmitting end and the laser receiving end, so that the problem of single calibration object in the prior art is solved;
the beneficial effects of the above technical scheme are: according to the method and the device, the collected laser signals are analyzed, the direction and angle information of the laser beams are finally obtained, and effective information obtaining before laser calibration is improved, so that the accuracy of laser calibration and the reliability of results are improved.
Example 2:
in one embodiment of the invention: the laser signal acquisition module includes:
a video frame acquisition unit: the system comprises a video frame acquisition module, a video frame acquisition module and a video frame acquisition module, wherein the video frame acquisition module is used for acquiring video frame information of laser beams in an environment by adopting an industrial camera;
video frame cutting unit: the video frame information of the laser beams is divided to obtain image information of a plurality of frames of laser beams;
an image coordinate acquisition unit: the coordinate value of the laser beam point under an image coordinate system is acquired according to the image information of the laser beam; wherein the laser beam spot comprises a laser emitting point and a laser receiving point;
a coordinate system conversion unit: the coordinate system conversion module is used for converting a coordinate value corresponding to a laser beam point in an image coordinate system to obtain a coordinate value of the laser beam point in a three-dimensional space coordinate system;
an angle value calculation unit: the system comprises a three-dimensional space coordinate system, a laser beam spot and a laser processing device, wherein the three-dimensional space coordinate system is used for carrying out angle conversion according to the coordinate of the laser beam spot in the three-dimensional space coordinate system to acquire the angle value information of laser emission; wherein the angle value information includes: a pitch angle value, an elevation angle value and a yaw angle value;
the working principle of the technical scheme is as follows: in the prior art, the information of the laser beam is collected by monitoring the information of the laser emitting device and the target arrival position of the laser beam, so that when an emitting point or the target arrival position deviates due to external factors, a system cannot sense the deviation in real time, calibration is still performed aiming at wrong coordinate information, and finally calibration failure is caused; the method comprises the steps of acquiring video frame information of an emitting point and a target point of a laser beam in real time by adopting an industrial camera, acquiring coordinate values of the emitting point and the target point of the laser beam under an image coordinate system through an image processing technology, and acquiring the corresponding coordinate values of a three-dimensional space coordinate system through coordinate system conversion, so that the motion information of the emitting point and the reaching point of the laser beam can be monitored in real time, even if one item is displaced due to external factors, a system can detect latest data, and the problem of failure of laser calibration easily caused by acquiring lagging coordinate information of the laser beam in the prior art is solved;
the beneficial effects of the above technical scheme are: the method and the system have the advantages that the video frame data of the laser beam in the environment is obtained by adopting the industrial camera, the image information of the laser beam is obtained by adopting the video segmentation technology, the real-time state data information of the laser is favorably monitored in real time, when the state data information of the laser beam changes, the system can sense in real time, the corresponding laser calibration is carried out aiming at the latest state data, in addition, the angle calculation is carried out on the coordinate information of the emitting point and the reaching point corresponding to the obtained laser beam, different angle information is obtained, and the efficiency and the precision of the laser calibration are favorably improved.
Example 3:
in one embodiment of the invention: the error acquisition module includes:
a wavelength calculation unit: the laser wavelength acquisition module is used for acquiring the laser wavelength corresponding to the laser beam according to the direction and angle information of the laser beam;
a displacement measuring unit: the Doppler frequency shift calculation is carried out according to the laser wavelength corresponding to the light beam, and a measurement displacement value of the laser light beam is obtained;
a displacement value conversion unit: the displacement value is used for converting the measurement displacement value to obtain a phase displacement value of the laser beam;
air refractive index calculation unit: the real-time air refractive index calculation module is used for calculating the air refractive index of the environment in real time, and calculating the real-time-frequency difference value of the laser beam by combining the phase displacement value of the laser beam according to the real-time air refractive index;
lightwave signal amplification unit: the AC amplifier is used for amplifying the light wave signal according to the real-time frequency difference value of the laser beam to obtain an amplified light wave signal value;
an information comparison unit: the device is used for acquiring a standard lightwave signal value, comparing the standard lightwave signal value with the amplified lightwave signal value and acquiring error data information;
the working principle of the technical scheme is as follows: when the calibration error is obtained in the prior art, the position compensation parameter is obtained only by comparing the position information of the preset standard punctuation with the coordinate information of the actual punctuation, and the corresponding laser calibration is carried out aiming at the obtained position compensation parameter, so that the laser calibration step is executed in such a way, the position compensation parameter is single in setting, the obtained error data information has lower precision, and the final laser calibration result has lower accuracy; according to the invention, the laser wavelength corresponding to the laser beam is obtained, the Doppler frequency shift calculation is carried out, the real-time frequency difference value of the laser beam is obtained by combining the real-time air refractive index, the light wave signal value is compared with the standard light wave signal value, and error data information is obtained, so that the problem of lower calibration precision and accuracy caused by single parameter in the prior art is solved;
the beneficial effects of the above technical scheme are: the Doppler frequency shift calculation aiming at the laser wavelength is beneficial to improving the precision of parameter measurement, improving the measurement speed and range and having good repeatability, in addition, the real-time calculation of the air refractive index is beneficial to acquiring frequency difference values under different states according to the real-time air refractive index state, the precision of error data information is beneficial to improving, the reduction of the calibration precision caused by the large change of the air refractive index is prevented, the acquired real-time frequency difference value is amplified by adopting an alternating current amplifier, the calibration precision is beneficial to improving, and therefore the accuracy of the error data information is improved.
Example 4:
in one embodiment of the invention: the air refractive index calculation unit includes:
an air pressure obtaining subunit: the system comprises an air pressure sensor, a data processing module and a data processing module, wherein the air pressure sensor is used for acquiring real-time air pressure data of an environment and outputting the real-time air pressure data;
temperature acquisition subunit: the system comprises a temperature sensor, a data processing module and a data processing module, wherein the temperature sensor is used for acquiring real-time temperature data of an environment and outputting the real-time temperature data;
humidity acquisition subunit: the humidity sensor is used for acquiring real-time humidity data of the environment and outputting the real-time humidity data;
gas concentration measurement subunit: the carbon dioxide concentration meter is used for acquiring the concentration value of real-time carbon dioxide in the air and outputting the real-time carbon dioxide concentration value;
refractive index obtaining subunit: the device is used for calculating the real-time air refractive index based on the air pressure data, the temperature data, the humidity data and the carbon dioxide concentration value in the air of the environment and outputting a calculation result;
the working principle of the technical scheme is as follows: in the prior art, the real-time frequency difference value of the laser beam is not calculated by calculating the real-time air refractive index in the current environment in real time, so that the refractive index of the air is changed suddenly due to the sudden change of the environment, and finally, the laser calibration is carried out by only using the standard air refractive index in the laser calibration, so that the error of the laser calibration result is caused, and the precision and the accuracy of the laser calibration are reduced; according to the invention, the built-in air pressure sensor, the built-in temperature sensor, the built-in humidity sensor and the built-in carbon dioxide measuring instrument are used for respectively obtaining the real-time air pressure, temperature, humidity and carbon dioxide concentration in the environment so as to obtain the real-time air refractive index, and the problem that the laser calibration result is deviated due to the sudden change of the air refractive index caused by the change of the environment in the prior art is solved;
the beneficial effects of the above technical scheme are: according to the invention, the built-in air pressure sensor, the built-in temperature sensor, the built-in humidity sensor and the built-in carbon dioxide measuring instrument are used for respectively acquiring the real-time air pressure, temperature, humidity and carbon dioxide concentration in the environment, so that the real-time air refractive index is acquired, the latest air refractive index calculation result is favorably substituted to calculate the calibrated data, the precision and the efficiency of the laser calibration result are favorably improved, and the reduction of the accuracy of laser calibration caused by the actual change of the air refractive index is prevented.
Example 5:
in one embodiment of the invention: the calibration module includes:
equipment self-checking unit: the device self-checking module is used for starting a device self-checking mode, acquiring a device self-checking result, outputting a primary feedback signal when the device self-checking result shows a normal working state, and outputting a secondary feedback signal when the device self-checking result shows an abnormal working state; wherein the self-checking content of the device comprises: detecting the connectivity of equipment lines, detecting the availability of a laser transmitter and detecting the parallelism;
an error classification unit: the device is used for receiving the primary feedback signal, classifying the error data information according to a preset error type and outputting an error classification result; wherein the error categories include: wavelength error, quantization error, nonlinear error, wavelength compensation error, temperature compensation error and cosine error;
an error positioning unit: the error classification module is used for positioning a target position corresponding to the error data information according to the error classification result to obtain a target position positioning result;
a positioning verification unit: the system is used for verifying the accuracy of the positioning result according to the target position positioning result to obtain an accuracy verification result; wherein the accuracy verification result comprises: matching positioning verification and mismatching positioning verification;
a model construction unit: when the accuracy verification result shows that the positioning verification is matched, acquiring a target position calibration weight according to the target position positioning result, and constructing an error calibration model according to the weight;
a primary calibration unit: the calibration model is used for acquiring calibration parameters according to the error calibration model and executing automatic calibration according to the calibration parameters;
the working principle of the technical scheme is as follows: in the prior art, the calibration equipment is not subjected to self-checking before laser calibration is carried out, so that the calibration equipment is still adopted for calibration when the connectivity problem of equipment lines, the laser transmitter is unavailable and the parallelism detection does not meet the calibration requirement, and finally, a calibration result has larger deviation; in the invention, the calibration equipment is self-checked before laser calibration, the equipment line connectivity, the availability and the parallelism of a laser transmitter are detected, in addition, errors in the laser calibration process are pre-classified, the pre-classified result is positioned and verified, an error calibration model is constructed to realize automatic laser calibration, and the problems that the same calibration mode is adopted for different errors in the prior art to calibrate are solved, so the calibration reliability is reduced;
in a particular embodiment, the error calibration model is evaluated,
step 1: error data for calibration was calculated:
wherein, FxCoordinate values (a) in the coordinate system of the corresponding imagex,bx,cx) Point FxConverting coordinate system to obtain point FxCoordinate value (A) corresponding to the three-dimensional space coordinatex,Bx,Cx) Δ diff denotes error data of calibration, x ═ 1,2, …;
the purpose of the above formula is mainly to calculate the error data of calibration generated during the coordinate system conversion process, because, when the error calibration model is evaluated, the specific data of the error needs to be obtained, and then the error calibration model is evaluated according to the specific error data;
step 2: evaluating error data for the target location:
wherein eva represents an evaluation result for the error data, and k represents the number of coordinates of the target position;
the main purpose of the formula is to evaluate error data of a target position by adopting a root mean square, and the evaluation by the method is sensitive to errors, so that the root mean square is selected for error evaluation to improve the calibration precision;
the beneficial effects of the above technical scheme are: in addition, the error types are pre-classified, and positioning and verification are carried out aiming at the error pre-classified results, so that the efficiency of error analysis is improved, abnormal information is prevented from being generated, and the reliability of laser calibration is improved.
Example 6:
in one embodiment of the invention: the laser signal acquisition module further comprises:
laser quality detection unit: the quality detection module is used for performing quality detection on the acquired laser signals, outputting quality detection results and dividing the quality grade of the laser beams according to the quality detection results; wherein the quality grade of the laser beam comprises: a first level light beam level, a second level light beam level, and a third level light beam level;
a laser filtering unit: the laser processing device is used for performing corresponding laser filtering according to the quality grade of the laser beam to obtain filtered laser, and analyzing the filtered laser to obtain an analysis result;
laser filters the detecting element: the laser filtering device is used for detecting the edge scattering degree of the filtered laser according to the laser filtering result and outputting a detection result; wherein the detection result comprises: usable laser beams, unusable laser beams;
a result processing unit: the laser beam calibration device is used for transmitting a calibration stopping instruction when the edge scattering degree detection result shows that the laser beam is unavailable;
the working principle of the technical scheme is as follows: the prior art of the invention does not relate to the quality detection process aiming at the laser signal, so that if the laser beam emitted by the laser emitter does not meet the preset detection standard before calibration, the calibration precision is affected, and finally the laser calibration efficiency is reduced; according to the method, quality detection is carried out on the collected laser signals, grading division is carried out according to the quality detection result, different filtering modes are selected for the laser beams according to the grading division result, finally, detection is carried out on the filtered laser for detecting the filtering result, and if the detected laser does not accord with the calibration standard, a calibration stopping instruction is transmitted, so that the quality of the laser beams is enhanced, and the problem that the efficiency of laser calibration is reduced due to the fact that the laser beams which do not accord with the use standard in the prior art are solved;
the beneficial effects of the above technical scheme are: the method and the device have the advantages that the initial quality of the laser beam can be judged before laser calibration by performing the initial quality detection on the quality of the laser beam, the calibration can be performed when the initial emission quality of the laser beam is good, the calibration effect can be influenced when the reflection quality is not good, different filtering modes are selected according to the grades of the laser beam when the grades of the laser beam are graded, different processing on the laser beam with different grades is facilitated, the calibration accuracy of the laser beam is facilitated to be improved, the emission stopping calibration instruction is facilitated to the system to autonomously judge whether the emission quality of the current laser beam meets the calibration standard or not when the detected laser beam does not meet the use standard, and the calibration quality and efficiency are facilitated to be improved.
Example 7:
in one embodiment of the invention: the laser filtering unit: the laser filtering device is used for performing corresponding laser filtering according to the quality grade of the laser beam, obtaining filtered laser and outputting a laser filtering result, and the specific executed content comprises the following steps:
when the quality grade of the laser beam is a first-grade beam grade, analyzing the laser beam, acquiring the direction and angle information of the laser beam and outputting an analysis result;
when the quality grade of the laser beam is a secondary beam grade, performing scattering filtering on the laser beam to obtain primary filtered laser, analyzing the primary filtered laser to obtain direction and angle information corresponding to the beam of the primary filtered laser, and outputting an analysis result;
when the quality grade of the laser beam is a third-grade beam grade, performing edge filtering on the laser beam to obtain an edge filtering result, performing scattering filtering according to the edge filtering result to obtain second-grade filtering laser, analyzing the second-grade filtering laser to obtain direction and angle information corresponding to the beam of the second-grade filtering laser, and outputting an analysis result;
the working principle of the technical scheme is as follows: the prior art of the invention does not relate to the grading and the beam filtering aiming at the quality of the laser emission beam, so that the final calibration quality error caused by the intrinsic problem of the laser is easy to occur in the laser calibration process; according to the invention, the quality of the laser beams is graded, and corresponding filtering methods are selected for the laser beams with different grades, so that the problem that errors occur in laser calibration results caused by the quality of the laser beams in the prior art can be solved;
the beneficial effects of the above technical scheme are: according to the invention, different filtering modes are selected for the laser beams corresponding to different grades, so that the quality of the laser beams can be improved in a targeted manner, and the precision and the efficiency of laser calibration can be improved.
Example 8:
in one embodiment of the invention: the error acquisition module further comprises:
a normalization processing unit: the device is used for carrying out normalization processing on the direction and angle information of the laser beam to generate the motion information of the laser beam;
a signal conversion unit: the laser processing device is used for converting the motion information of the laser beam into a frequency modulation signal and acquiring the vibration characteristic of the laser beam;
a laser simulation unit: the laser processing device is used for acquiring an interference interval of simulated laser according to the vibration characteristic of the laser beam and acquiring the carrier frequency of the simulated laser according to the interference interval;
an offset frequency acquisition unit: the frequency deviation control device is used for comparing the carrier frequency of the simulated laser with the carrier frequency of the standard laser to obtain the deviation frequency;
a digital demodulation unit: the digital demodulation is carried out on the offset frequency, and a demodulation signal is output;
the working principle of the technical scheme is as follows: in the prior art, the vibration characteristic of the light beam is obtained by acquiring the motion information of the laser beam, and a modulation signal is directly modulated by using a digital demodulation method, so that the modulated demodulation signal has certain ambiguity and contains certain clutter noise; according to the method, the vibration characteristic of the obtained laser beam is subjected to laser simulation to obtain the interference interval and the carrier frequency of the simulated laser, the carrier frequency of the simulated laser is compared with the carrier frequency of the standard laser to obtain the offset frequency, and finally, the modulation signal obtained by digital demodulation according to the obtained offset frequency is clear and cannot be interfered by noise;
in one specific embodiment, the interference interval of the known simulated laser is [ x ]1,x2]Offset frequency of fp，
Step 1: carrying out digital demodulation aiming at the offset frequency, wherein the obtained demodulation signal is as follows:
OUT＝αsin[2π(fp·t+Δfs sin(2πfst))+μ]
where OUT denotes the digitally demodulated signal, α denotes the analog parameter, fsThe carrier frequency of the analog laser is represented, t represents a time variation value, and mu represents a delay parameter;
the main purpose of the above formula is to obtain a wider frequency range and reduce the influence of time delay by performing standard modulation by a least square fitting method when digitally demodulating offset frequency;
and 2, step: judging the sensitivity of the demodulation signal according to the demodulation signal obtained by digital demodulation:
where k is 1,2, …, n, L is the sensitivity calculation result corresponding to the demodulated signal, v iskRepresenting the offset frequency fpThe speed of the corresponding one of the wheels is,
denotes the mean velocity of the offset, wkIndicating the speed corresponding to the carrier frequency of the analog laser,
represents the carrier average velocity;
the main purpose of the above formula is to calculate the sensitivity of the digitized demodulated signal according to the offset frequency and the carrier frequency, and when the sensitivity result corresponding to the demodulated signal is higher, the accuracy of laser calibration is improved;
and step 3: the calculation formula corresponding to the nonlinear error of the laser beam is as follows:
wherein the content of the first and second substances,
a result of the calculation of the non-linearity error is represented,
representing the average carrier frequency of the analog laser, L representing the sensitivity of the demodulated signal, vkRepresenting the offset frequency fpThe speed of the corresponding one of the wheels is,
which represents the average rate of the carrier wave,
represents the offset average velocity;
the main purpose of the above formula is to calculate the nonlinear error value of calibration according to the sensitivity of the demodulated signal, combining the speed corresponding to the offset frequency and the offset average speed, and simulating the speed and average speed of the carrier frequency of the laser;
the beneficial effects of the above technical scheme are: according to the invention, the modulation signal is converted, so that the laser signal can be collected and processed, the vibration characteristic of the obtained laser beam is subjected to laser simulation, the interference interval and the carrier frequency of the simulated laser are obtained, the carrier frequency of the simulated laser is compared with the carrier frequency of the standard laser, the offset frequency is obtained, and finally, the modulation signal obtained by digital demodulation according to the obtained offset frequency is clearer, and can not be interfered by noise, so that the intensity of the modulation signal can be improved, and the precision of laser calibration can be improved finally.
Example 9:
in one embodiment of the invention: the calibration module further comprises:
a calibration prediction unit: the device is used for acquiring historical error data information and historical calibration data information, respectively taking the historical error data information and the historical calibration data information as an input item and an output item of a training set, constructing a calibration prediction model according to the input item and the output item of the training set, taking the error data information of the current laser beam as an input item of the calibration prediction model, acquiring a corresponding output result, and graphically displaying according to the output result to acquire a predicted calibration track.
A track recording unit: the system is used for dynamically recording the actual calibration path to generate an actual calibration track;
a trajectory comparison unit: the coincidence degree analysis module is used for analyzing the coincidence degree of the predicted calibration track and the actual calibration track and outputting a coincidence degree analysis result;
a model updating unit: the device is used for updating the calibration prediction model according to the coincidence degree analysis result and outputting the updated calibration prediction model;
the working principle of the technical scheme is as follows: the prior art of the invention does not relate to calibration prediction aiming at the calibration process, so that the invention is not beneficial to summarizing the rule analysis of different calibration processes; according to the method, historical error data information and historical calibration data information are respectively used as an input item and an output direction of a training set for training, a calibration prediction model is built, error data information of a current laser beam is input into the model, the output content is the prediction calibration information corresponding to the current laser beam, an actual calibration process is recorded, a calibration track is formed, the calibration track is compared with the prediction calibration track to obtain a coincidence degree analysis result, and finally the calibration prediction model is updated according to the coincidence degree analysis result, so that the problem that rule analysis cannot be performed on the calibration process in the prior art can be solved;
the beneficial effects of the above technical scheme are: according to the method, the prediction calibration model is constructed, so that the rule analysis is favorably carried out in the actual calibration process, the model is updated, the prediction precision and accuracy are improved, the reliability of model prediction is favorably improved, and the accurate prediction of the calibration track can be realized.
Example 10:
in one embodiment of the invention: the calibration module further comprises:
an information storage unit: the system comprises a content database, a calibration content acquisition module and a calibration content acquisition module, wherein the content database is used for storing calibration content information; the calibration content information comprises the direction and angle information of the laser beam, error data information and calibration result information;
an information monitoring unit: the system comprises a content database, a data acquisition module, a data processing module and a data processing module, wherein the content database is used for storing data, the data acquisition module is used for acquiring data in the content database, and the data acquisition module is used for acquiring data in the content database;
an abnormal information alarm unit: the data processing device is used for judging that the data in the content database is abnormal data and transmitting an alarm signal when the comparison result shows that the data are not in the corresponding threshold range;
the working principle of the technical scheme is as follows: in the prior art, the information storage function of the laser beam is not involved, and the stored data is not monitored and alarmed, so that the system does not find that the calibration is still carried out when wrong data occurs in the calibration process, resources are consumed finally, and the calibration accuracy is not ideal; according to the method, the direction and angle information, error data information and calibration result information of the laser beam are stored in the content database, the information is compared with a preset threshold range, and when the detected data do not meet the preset threshold requirement, an alarm signal is transmitted, so that the problem that error data cannot be searched in the prior art can be solved;
the beneficial effects of the above technical scheme are: according to the invention, the content database is adopted to store the data information related to the laser beam, so that the information is favorably stored and is not easy to lose, and the data in the content database is compared with the corresponding threshold range to obtain the abnormal data information and transmit the alarm signal, so that the advance reminding for the abnormal information is favorably carried out, the system resource is saved, the validity of the data is favorably maintained, and the precision of laser calibration is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A visual laser calibration platform system, comprising:
the laser signal acquisition module: the device is used for acquiring laser signals and analyzing the laser signals to acquire direction and angle information of laser beams;
an error acquisition module: the device is used for comparing the direction and angle information of the laser beam with preset standard direction and angle information to obtain error data information;
a calibration module: and the laser calibration module is used for constructing an error calibration model according to the error data information, automatically calibrating the laser beam and determining a calibration result.
2. The visual laser calibration platform system of claim 1, wherein the laser signal acquisition module comprises:
a video frame acquisition unit: the system comprises a video frame acquisition module, a video frame acquisition module and a video frame acquisition module, wherein the video frame acquisition module is used for acquiring video frame information of laser beams in an environment by adopting an industrial camera;
video frame cutting unit: the video frame information of the laser beams is divided to obtain image information of a plurality of frames of laser beams;
an image coordinate acquisition unit: the coordinate value of the laser beam point under an image coordinate system is acquired according to the image information of the laser beam; wherein the laser beam spot comprises a laser emitting point and a laser receiving point;
a coordinate system conversion unit: the coordinate system conversion module is used for converting a coordinate value corresponding to a laser beam point in an image coordinate system to obtain a coordinate value of the laser beam point in a three-dimensional space coordinate system;
an angle value calculation unit: the system comprises a three-dimensional space coordinate system, a laser beam spot and a laser processing device, wherein the three-dimensional space coordinate system is used for carrying out angle conversion according to the coordinate of the laser beam spot in the three-dimensional space coordinate system to acquire the angle value information of laser emission; wherein the angle value information includes: a pitch angle value, an elevation angle value, a yaw angle value.
3. The visual laser calibration platform system of claim 1, wherein the error acquisition module comprises:
a wavelength calculation unit: the laser wavelength acquisition module is used for acquiring the laser wavelength corresponding to the laser beam according to the direction and angle information of the laser beam;
a displacement measuring unit: the Doppler frequency shift calculation is carried out according to the laser wavelength corresponding to the light beam, and a measurement displacement value of the laser light beam is obtained;
a displacement value conversion unit: the displacement value is used for converting the measurement displacement value to obtain a phase displacement value of the laser beam;
air refractive index calculation unit: the real-time air refractive index calculation module is used for calculating the air refractive index of the environment in real time, and calculating the real-time-frequency difference value of the laser beam by combining the phase displacement value of the laser beam according to the real-time air refractive index;
lightwave signal amplification unit: the AC amplifier is used for amplifying the light wave signal according to the real-time frequency difference value of the laser beam to obtain an amplified light wave signal value;
an information comparison unit: and the device is used for acquiring a standard lightwave signal value, comparing the standard lightwave signal value with the amplified lightwave signal value and acquiring error data information.
4. The vision laser calibration platform system of claim 3, wherein the air refractive index calculation unit comprises:
an air pressure obtaining subunit: the system comprises an air pressure sensor, a data processing module and a data processing module, wherein the air pressure sensor is used for acquiring real-time air pressure data of an environment and outputting the real-time air pressure data;
temperature acquisition subunit: the system comprises a temperature sensor, a data processing module and a data processing module, wherein the temperature sensor is used for acquiring real-time temperature data of an environment and outputting the real-time temperature data;
humidity acquisition subunit: the humidity sensor is used for acquiring real-time humidity data of the environment and outputting the real-time humidity data;
gas concentration measurement subunit: the carbon dioxide concentration meter is used for acquiring the concentration value of real-time carbon dioxide in the air and outputting the real-time carbon dioxide concentration value;
refractive index obtaining subunit: the device is used for calculating the real-time air refractive index based on the air pressure data, the temperature data, the humidity data and the carbon dioxide concentration value in the air of the environment and outputting the calculation result.
5. The visual laser calibration platform system of claim 1, wherein the calibration module comprises:
equipment self-checking unit: the device self-checking module is used for starting a device self-checking mode, acquiring a device self-checking result, outputting a primary feedback signal when the device self-checking result shows a normal working state, and outputting a secondary feedback signal when the device self-checking result shows an abnormal working state; wherein the self-checking content of the device comprises: detecting the connectivity of equipment lines, detecting the availability of a laser transmitter and detecting the parallelism;
an error classification unit: the device is used for receiving the primary feedback signal, classifying the error data information according to a preset error type and outputting an error classification result; wherein the error categories include: wavelength error, quantization error, nonlinear error, wavelength compensation error, temperature compensation error and cosine error;
an error positioning unit: the error classification module is used for positioning a target position corresponding to the error data information according to the error classification result to obtain a target position positioning result;
a positioning verification unit: the system is used for verifying the accuracy of the positioning result according to the target position positioning result to obtain an accuracy verification result; wherein the accuracy verification result comprises: matching positioning verification and mismatching positioning verification;
a model construction unit: when the accuracy verification result shows that the positioning verification is matched, acquiring a target position calibration weight according to the target position positioning result, and constructing an error calibration model according to the weight;
a primary calibration unit: and the calibration module is used for acquiring calibration parameters according to the error calibration model and executing automatic calibration according to the calibration parameters.
6. The visual laser calibration platform system of claim 1, wherein the laser signal acquisition module further comprises:
laser quality detection unit: the quality detection module is used for performing quality detection on the acquired laser signals, outputting quality detection results and dividing the quality grade of the laser beams according to the quality detection results; wherein the quality grade of the laser beam comprises: a first level light beam level, a second level light beam level, and a third level light beam level;
a laser filtering unit: the laser processing device is used for performing corresponding laser filtering according to the quality grade of the laser beam to obtain filtered laser, and analyzing the filtered laser to obtain an analysis result;
laser filters the detecting element: the laser filtering device is used for detecting the edge scattering degree of the filtered laser according to the laser filtering result and outputting a detection result; wherein the detection result comprises: usable laser beams, unusable laser beams;
a result processing unit: and the laser module is used for transmitting a stop calibration instruction when the edge scattering degree detection result shows that the laser beam is unavailable.
7. The vision laser calibration platform system of claim 6, wherein said laser filter unit: the laser filtering device is used for performing corresponding laser filtering according to the quality grade of the laser beam, obtaining filtered laser and outputting a laser filtering result, and the specific executed content comprises the following steps:
when the quality grade of the laser beam is a first-grade beam grade, analyzing the laser beam, acquiring the direction and angle information of the laser beam and outputting an analysis result;
when the quality grade of the laser beam is a secondary beam grade, performing scattering filtering on the laser beam to obtain primary filtered laser, analyzing the primary filtered laser to obtain direction and angle information corresponding to the beam of the primary filtered laser, and outputting an analysis result;
and when the quality grade of the laser beam is a third-level beam grade, performing edge filtering on the laser beam to obtain an edge filtering result, performing scattering filtering according to the edge filtering result to obtain a second-level filtering laser, analyzing the second-level filtering laser, obtaining direction and angle information corresponding to the beam of the second-level filtering laser, and outputting an analysis result.
8. The visual laser calibration platform system of claim 1, wherein the error acquisition module further comprises:
a normalization processing unit: the device is used for carrying out normalization processing on the direction and angle information of the laser beam to generate the motion information of the laser beam;
a signal conversion unit: the laser processing device is used for converting the motion information of the laser beam into a frequency modulation signal and acquiring the vibration characteristic of the laser beam;
a laser simulation unit: the laser processing device is used for acquiring an interference interval of simulated laser according to the vibration characteristic of the laser beam and acquiring the carrier frequency of the simulated laser according to the interference interval;
an offset frequency acquisition unit: the frequency deviation control device is used for comparing the carrier frequency of the simulated laser with the carrier frequency of the standard laser to obtain the deviation frequency;
a digital demodulation unit: for digitally demodulating the offset frequency and outputting a demodulated signal.
9. The visual laser calibration platform system of claim 1, wherein the calibration module further comprises:
a calibration prediction unit: the device is used for acquiring historical error data information and historical calibration data information, respectively taking the historical error data information and the historical calibration data information as an input item and an output item of a training set, constructing a calibration prediction model according to the input item and the output item of the training set, taking the error data information of the current laser beam as an input item of the calibration prediction model, acquiring a corresponding output result, and graphically displaying according to the output result to acquire a predicted calibration track.
A track recording unit: the system is used for dynamically recording the actual calibration path to generate an actual calibration track;
a trajectory comparison unit: the coincidence degree analysis module is used for analyzing the coincidence degree of the predicted calibration track and the actual calibration track and outputting a coincidence degree analysis result;
a model updating unit: and the device is used for updating the calibration prediction model according to the coincidence degree analysis result and outputting the updated calibration prediction model.
10. The visual laser calibration platform system of claim 1, wherein the calibration module further comprises:
an information storage unit: the system comprises a content database, a calibration content acquisition module and a calibration content acquisition module, wherein the content database is used for storing calibration content information; the calibration content information comprises the direction and angle information of the laser beam, error data information and calibration result information;
an information monitoring unit: the system comprises a content database, a data acquisition module, a data processing module and a data processing module, wherein the content database is used for storing data, the data acquisition module is used for acquiring data in the content database, and the data acquisition module is used for acquiring data in the content database;
an abnormal information alarm unit: and when the comparison result shows that the data in the content database is not in the corresponding threshold range, judging the data to be abnormal data and transmitting an alarm signal.
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